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In this paper, a novel PID gain update law using linear least squares regression is introduced as an adaptive control method for autonomous helicopters. In addition, prediction analysis is conducted for error dynamics of the closed loop system using recursive linear least squares regression. Combining these two concepts with classical PID controller, an intelligent PID controller is obtained. A flight...
As part of the aviation regulations in the Netherlands, third party risk models have been developed and are applied in the determination of risks to the people on ground (third parties) due to aircraft departures and arrivals. In the derivation of these models, accident data are required. Such risk model has yet to be developed for unmanned aerial vehicles (UAVs). As foreseen in the future, accidents...
This paper describes a vision-based multiple model adaptive estimation using UAVs that enables the tracking of a mobile target that changes the system model depending on unknown factors. In our system the machine-learning-based target identification method uses Haar-like classifiers that detects the target position. The system uses multiple extended Kalman filters for each system model and estimates...
This paper presents the design of an adaptive augmentation for cascaded outer-loop path and inner-loop acceleration tracking controllers. The adaptive augmentation is based on a nonlinear design plant and uses model reference adaptive control (MRAC). The outer-loop position controller is a nonlinear model predictive controller (NMPC) with velocity adjustment which incorporates the states and control...
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